cmake_minimum_required(VERSION 3.0.2)
project(stair_ctrl)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
add_compile_options(-std=c++17)
add_compile_options(-Wall -Wextra -Wpedantic)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

set(CMAKE_CXX_FLAGS "-O3 -fPIC")

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  grid_map_core
  grid_map_cv
  grid_map_msgs
  grid_map_ros
  nav_msgs
  roscpp
  sensor_msgs
  tf2_ros
  unitree_legged_msgs
  message_generation
  std_msgs
  cv_bridge
  eigen_conversions
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  UdpState.msg
  Keys.msg
  JoyStick.msg
  NN.msg
  MotionPlan.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
 LIBRARIES stair_ctrl
 CATKIN_DEPENDS 
  geometry_msgs
  message_runtime
  std_msgs
  sensor_msgs 
  grid_map_core
  grid_map_cv 
  grid_map_msgs 
  grid_map_ros 
  nav_msgs 
  roscpp 
  sensor_msgs 
  tf2_ros 
  unitree_legged_msgs
  cv_bridge
  DEPENDS EIGEN3 OpenCV
)

message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
  set(ARCH amd64)
else()
  set(ARCH arm64)
endif()
set(LEGGED_SDK_NAME -pthread libunitree_legged_sdk.a lcm)

set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
set(LEGGED_SDK_DIR ${CMAKE_SOURCE_DIR}/../unitree_legged_sdk)
message(${LEGGED_SDK_DIR})

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${LEGGED_SDK_DIR}/include
  ${EIGEN3_INCLUDE_DIR}
  ${OpenCV_INCLUDE_DIRS}
)

message(Eigen: ${EIGEN3_INCLUDE_DIR})

link_directories(${LEGGED_SDK_DIR}/lib/cpp/${ARCH})

add_executable(ros_udp_comm_low src/ros_udp_comm_low.cpp)
target_link_libraries(ros_udp_comm_low ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(ros_udp_comm_low ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(ros_udp_comm_low_vilo src/ros_udp_comm_low_vilo.cpp)
target_link_libraries(ros_udp_comm_low_vilo ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(ros_udp_comm_low_vilo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(stair_ctrl src/stair_ctrl.cpp)
target_link_libraries(stair_ctrl ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(stair_ctrl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(keyboard_ctrl src/keyboard_ctrl.cpp)
target_link_libraries(keyboard_ctrl ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(keyboard_ctrl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(sim_wireless_remote src/sim_wireless_remote.cpp)
target_link_libraries(sim_wireless_remote ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(sim_wireless_remote ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(state_estimator src/state_estimator.cpp)
target_link_libraries(state_estimator ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(state_estimator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(map_manager src/map_manager.cpp)
target_link_libraries(map_manager ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(map_manager ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(map_from_image src/map_from_image.cpp)
target_link_libraries(map_from_image ${EXTRA_LIBS} ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_dependencies(map_from_image ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(odom_extrapolation src/odom_extrapolation.cpp)
target_link_libraries(odom_extrapolation ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(odom_extrapolation ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(fake_map src/test_node/fake_map.cpp)
target_link_libraries(fake_map ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(fake_map ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(test_talker src/test_node/talker.cpp)
target_link_libraries(test_talker ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(test_talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(bag_to_cv src/bag_to_cv.cpp)
target_link_libraries(bag_to_cv ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(bag_to_cv ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(kinematics_test src/kinematics_test.cpp)


## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/stair_ctrl.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/stair_ctrl_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
  scripts/ModelStateToPose.py
  scripts/ModelStateToTF.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS bag_to_cv
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hpp"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_stair_ctrl.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
